Title :
RLS-based sensor fusion algorithm for mobile robot localization on finite precision embedded systems
Author :
Mumolo, Enzo ; Nolich, Massimiliano ; Codognotto, Alberto ; Vercelli, Gianni
Author_Institution :
Univ. of Trieste, Trieste
Abstract :
In this paper a novel sensor fusion algorithm suited for embedded systems is presented. The algorithm is based on Fast-RLS and is able to operate in a finite precision computational environment; the proposed algorithm is capable of maintaining its stability in a wide range of operative conditions as shown in the simulation tests. Simulated results are included.
Keywords :
mobile robots; sensor fusion; stability; finite precision embedded systems; mobile robot localization; sensor fusion algorithm; Adaptive filters; Computational modeling; Embedded system; Finite impulse response filter; Kalman filters; Mobile robots; Resonance light scattering; Robot sensing systems; Sensor fusion; Stability;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 2008. MFI 2008. IEEE International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-1-4244-2143-5
Electronic_ISBN :
978-1-4244-2144-2
DOI :
10.1109/MFI.2008.4648038
